Sensitivity Analysis and Comparison of Parallel Sch?nflies-Motion Robots with a Single Platform

摘要：

　　This paper deals with the sensitivity analysis of parallel Sch?nfliesmotion robots.The influence of the kinematic parameters for the manipulator components,including the parallelogram,on the motion accuracy is studied.Sensitivity indices are defined to evaluate the influence of the geometric parameters to the manipulator end-effector.A comparative study is carried out for two robots to highlight their (dis)advantages.

关键词： Sch?nflies motion Sensitivity Variational method Parallelogram

作者: Guanglei Wu Shaoping Bai

作者单位: School of Mechanical Engineering, Dalian University of Technology, Dalian, China;Department of Mecha Department of Mechanical and Manufacturing Engineering, Aalborg University,9220 Aalborg, Denmark

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 155-167

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）